Model Predictive Control of 2-DOF Helicopter Based on MIMO ARX-Laguerre Model

Abstract

The main purpose of this paper is the control of a 2-DOF helicopter using the Model Predictive Control strategy based on solving an optimization problem with the aim of making the outputs of the system follow the desired trajectories. The predictor of the MPC algorithm is developed using the MIMO ARX-Laguerre model derived from the MIMO ARX model and presenting the advantage of a reduced parametric complexity. The application of the MPC based on MIMO ARXLguerre model requires firstly the identification of MIMO ARXLaguerre model by optimizing the Laguerre poles using the Genetic Algorithm, and applying the RLMS algorithm in order to identify the Fourier coefficients, and then computing the predictor in order to formulate the MPC cost function which should be solved taking into account the physical limits of the system.